Fixes following #670 (#719)

Author: aliberts

lerobot/common/policies/pi0/modeling_pi0.py

@@ -300,7 +300,7 @@ def select_action(self, batch: dict[str, Tensor], noise: Tensor | None = None) -
             self._action_queue.extend(actions.transpose(0, 1))
         return self._action_queue.popleft()
 
-    def forward(self, batch: dict[str, Tensor], noise=None, time=None) -> dict[str, Tensor]:
+    def forward(self, batch: dict[str, Tensor], noise=None, time=None) -> tuple[Tensor, dict[str, Tensor]]:
         """Do a full training forward pass to compute the loss"""
         if self.config.adapt_to_pi_aloha:
             batch[OBS_ROBOT] = self._pi_aloha_decode_state(batch[OBS_ROBOT])
@@ -328,12 +328,12 @@ def forward(self, batch: dict[str, Tensor], noise=None, time=None) -> dict[str,
         losses = losses[:, :, : self.config.max_action_dim]
         loss_dict["losses_after_rm_padding"] = losses.clone()
 
-        loss = losses.mean()
         # For backward pass
-        loss_dict["loss"] = loss
+        loss = losses.mean()
         # For logging
         loss_dict["l2_loss"] = loss.item()
-        return loss_dict
+
+        return loss, loss_dict
 
     def prepare_images(self, batch):
         """Apply Pi0 preprocessing to the images, like resizing to 224x224 and padding to keep aspect ratio, and

lerobot/common/utils/wandb_utils.py

@@ -102,7 +102,7 @@ def log_policy(self, checkpoint_dir: Path):
         self._wandb.log_artifact(artifact)
 
     def log_dict(self, d: dict, step: int, mode: str = "train"):
-        if mode in {"train", "eval"}:
+        if mode not in {"train", "eval"}:
             raise ValueError(mode)
 
         for k, v in d.items():
@@ -114,7 +114,7 @@ def log_dict(self, d: dict, step: int, mode: str = "train"):
             self._wandb.log({f"{mode}/{k}": v}, step=step)
 
     def log_video(self, video_path: str, step: int, mode: str = "train"):
-        if mode in {"train", "eval"}:
+        if mode not in {"train", "eval"}:
             raise ValueError(mode)
 
         wandb_video = self._wandb.Video(video_path, fps=self.env_fps, format="mp4")

lerobot/scripts/train.py

@@ -233,7 +233,7 @@ def train(cfg: TrainPipelineConfig):
             logging.info(train_tracker)
             if wandb_logger:
                 wandb_log_dict = {**train_tracker.to_dict(), **output_dict}
-                wandb_logger.log_dict(wandb_log_dict)
+                wandb_logger.log_dict(wandb_log_dict, step)
             train_tracker.reset_averages()
 
         if cfg.save_checkpoint and is_saving_step:
@@ -271,6 +271,7 @@ def train(cfg: TrainPipelineConfig):
             logging.info(eval_tracker)
             if wandb_logger:
                 wandb_log_dict = {**eval_tracker.to_dict(), **eval_info}
+                wandb_logger.log_dict(wandb_log_dict, step, mode="eval")
                 wandb_logger.log_video(eval_info["video_paths"][0], step, mode="eval")
 
     if eval_env: